// set the output enable - this is only required for TIM1 | TIM8
void pwmBDTRInit(const TIM_TypeDef *tim) {
TIM_BDTRInitTypeDef TIM_BDTRInitStruct;
TIM_BDTRStructInit(&TIM_BDTRInitStruct);
TIM_BDTRInitStruct.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
TIM_BDTRInitStruct.TIM_AutomaticOutput = TIM_AutomaticOutput_Enable;
TIM_BDTRInitStruct.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRConfig((TIM_TypeDef *)tim, &TIM_BDTRInitStruct);
}
static void config_tim1( void )
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
uint16_t TimerPeriod = 0;
uint16_t Channel1Pulse = 0, Channel2Pulse = 0, Channel3Pulse = 0, Channel4Pulse = 0;
/* Compute the value to be set in ARR register to generate signal frequency at 16 Khz */
//TimerPeriod = (SystemCoreClock / 16000) - 1;
// In center aligned mode, counts up and down, so * 2.
// TimerPeriod = (84000000 / ( 2 * 14000 )) - 1;
TimerPeriod = 1000;
/* Compute CCR1 value to generate a duty cycle at 50% for channel 1 */
//Channel1Pulse = (uint16_t) (((uint32_t) 5 * (TimerPeriod - 1)) / 10);
Channel1Pulse = 500;
/* Compute CCR2 value to generate a duty cycle at 25% for channel 2 */
//Channel2Pulse = (uint16_t) (((uint32_t) 25 * (TimerPeriod - 1)) / 100);
Channel2Pulse = 250;
/* Compute CCR3 value to generate a duty cycle at 12.5% for channel 3 */
//Channel3Pulse = (uint16_t) (((uint32_t) 125 * (TimerPeriod - 1)) / 1000);
Channel3Pulse = 125;
// pulse sent to other timer to trigger ADC;
// 97 steps from 999 -> 999-97 = 902
Channel4Pulse = 902;
/* Time Base configuration */
TIM_TimeBaseStructInit( &TIM_TimeBaseStructure );
// 14 MHz / 1000 steps == 14 kHz
TIM_TimeBaseStructure.TIM_Prescaler = PRESCALER;
//TIM_TimeBaseStructure.TIM_Prescaler = 65535;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned2;
TIM_TimeBaseStructure.TIM_Period = TimerPeriod;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
/* Channel 1, 2 and 3 Configuration in PWM mode */
TIM_OCStructInit( &TIM_OCInitStructure );
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = Channel1Pulse;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Set;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = Channel2Pulse;
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = Channel3Pulse;
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
TIM_OCStructInit( &TIM_OCInitStructure );
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Toggle;
TIM_OCInitStructure.TIM_Pulse = Channel4Pulse;
TIM_OC4Init(TIM1, &TIM_OCInitStructure);
/* Automatic Output enable, Break, dead time and lock configuration*/
TIM_BDTRStructInit( &TIM_BDTRInitStructure );
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_1;
TIM_BDTRInitStructure.TIM_DeadTime = 11;
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Enable;
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_Low;
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Enable;
TIM_BDTRConfig(TIM1, &TIM_BDTRInitStructure);
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* Master Mode selection and TRGO update output */
TIM_SelectOutputTrigger(TIM1, TIM_TRGOSource_OC4Ref);
TIM_SelectMasterSlaveMode(TIM1, TIM_MasterSlaveMode_Enable);
/* TIM1 counter enable */
TIM_Cmd(TIM1, ENABLE);
/* Main Output Enable */
TIM_CtrlPWMOutputs(TIM1, ENABLE);
}
/**
* @brief Configures TIM1: channels in PWM mode
* @param None
* @retval None
*/
void TIM_Config(void)
{
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
GPIO_InitTypeDef GPIO_InitStructure;
/* GPIOA clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
/* TIM1 channels pin configuration:
TIM1_CH1 -> PA8
*/
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Enable Alternate function on PA8 to be controlled by TIM1 */
GPIO_PinAFConfig(GPIOA, GPIO_PinSource8, GPIO_AF_2);
/* TIM1 clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
/* Time Base configuration */
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 100;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
/* Channel 1 Configuration in PWM mode */
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = 50;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
/* Automatic Output enable, Break, dead time and lock configuration*/
TIM_BDTRStructInit(&TIM_BDTRInitStructure);
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_1;
TIM_BDTRInitStructure.TIM_DeadTime = 11;
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Enable;
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Enable;
TIM_BDTRConfig(TIM1, &TIM_BDTRInitStructure);
/* Main Output Enable */
TIM_CtrlPWMOutputs(TIM1, ENABLE);
/* TIM1 counter enable */
TIM_Cmd(TIM1, ENABLE);
}
/******************************************************************************
* タイトル ： PWM初期設定
* 関数名 ： Init_PWM
* 戻り値 ： int型 0:設定できた 1:設定できない
* 引数1 ： TIM_TypeDef *型 TIMx TIMx TIMのポインタ
* 引数2 ： GPIO_TypeDef型 *GPIOx GPIOx GPIOのポインタ
* 引数3 ： uint16_t型 pin GPIO_Pin_x PINの設定
* 引数4 ： int型 frequency PWM周波数[Hz](整数)
* 作成者 ： 永谷 智貴
* 作成日 ： 2014/11/10
******************************************************************************/
int Init_PWM(TIM_TypeDef * TIMx,GPIO_TypeDef *GPIOx,uint16_t pin,int frequency)//エラーがあれば1、なければ0をreturnする
{
long TIM_clock=0;
int prescaler=0;
int period=0;
int calc_retry_flag=1;
//float error_ratio=0;
unsigned short i = 0;
Pin_t pin_state;//
//システムクロックをRCC_Clocksで取得
SystemCoreClockUpdate();
RCC_ClocksTypeDef RCC_Clocks;
RCC_GetClocksFreq(&RCC_Clocks);
//TIMのクロックの取得
if((TIM2<=TIMx&&TIMx<=TIM7)||(TIM12<=TIMx&&TIMx<=TIM14)){
TIM_clock=RCC_Clocks.PCLK1_Frequency*((RCC_TIMPRE+1)*2); //PCLK1のTIMプリスケーラ倍したらTIM2-7,12-14のクロックが出てくる
}else{
TIM_clock=RCC_Clocks.PCLK2_Frequency*((RCC_TIMPRE+1)*2); //PCLK2のTIMプリスケーラ倍したら上のやつ以外のクロックが出てくる
}
#ifdef PRINTF_AVAILABLE
printf("Init_PWM() start.\nTIM_clock:%d,\n",TIM_clock);
#endif
//上下の設定可能な周波数の中に納まっているか確認
if(frequency<FREQUENCY_UNDER_LIMIT || frequency>TIM_clock/PRESCALER_UNDER_LIMIT/PERIOD_UNDER_LIMIT)
{
#ifdef PRINTF_AVAILABLE
printf("Error. Frequency value out of range. '%d' - '%d' Requested frequency '%d'\n",FREQUENCY_UNDER_LIMIT,TIM_clock/PRESCALER_UNDER_LIMIT/PERIOD_UNDER_LIMIT,frequency);
#endif
return 1; //おかしければエラー返して終了
}
//prescaler,periodを計算
while(calc_retry_flag) //periodが制限内の最大になるまでprescalerを上げているだけ。計算でも出せるけど、見た目だけはこっちのほうがきれい。
{
prescaler++;
period=TIM_clock/prescaler/frequency;
if(period<=PERIOD_LIMIT) calc_retry_flag=0;
if(prescaler>=PRESCALER_LIMIT){ //prescalerが上の制限を超しちゃったらエラーを履くけどそうはならない。
#ifdef PRINTF_AVAILABLE
printf("Error. Prescaler value out of range. '%d'-'%d' \n",PRESCALER_UNDER_LIMIT,PRESCALER_LIMIT);
#endif
return 1; //おかしければエラー返して終了
}
}
// error_ratio=fabs(((float)TIM_clock/prescaler/period-(float)frequency)/(float)frequency)*100;//周波数の誤差をパーセントで計算。1%以内には納まる。
frequency=TIM_clock/prescaler/period; //設定した数値から算出される周波数 大体同じ。
#ifdef PRINTF_AVAILABLE
printf("Result: \n period:%d,\n prescaler:%d,\n frequency:%d,\n\n",period,prescaler,frequency);
#endif
//ここから普通のPWM設定
//設定に使用する構造体の宣言
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //TIM設定用構造体宣言
TIM_OCInitTypeDef TIM_OCInitStructure; //OC設定用構造体宣言
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
//クロック供給
RCC_PeriphClock_TIM(TIMx);//TIMクロック供給
//クロック供給とGPIO設定
Init_port(GPIO_Mode_AF,GPIOx,pin,GPIO_PuPd_NOPULL,GPIO_OType_PP);
//TIM設定
TIM_TimeBaseStructure.TIM_Period = period-1; //計算したperiod-1
TIM_TimeBaseStructure.TIM_Prescaler = prescaler-1; //計算したprescaler-1
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //なんかここ変えても周波数変わらなかったんだよね ナニコレ
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //カウンターモードアップ設定
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0; //高機能タイマー用 基本0
TIM_TimeBaseInit(TIMx,&TIM_TimeBaseStructure); //設定書き込み
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //PWMモード1
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //アクティブレベル時の極性をHighレベルにセット
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //タイマ出力を有効化
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;
TIM_OC1Init(TIMx,&TIM_OCInitStructure); //初期化
TIM_OC1PreloadConfig(TIMx,TIM_OCPreload_Disable); //プリロード不許可
TIM_OC2Init(TIMx,&TIM_OCInitStructure); //初期化
TIM_OC2PreloadConfig(TIMx,TIM_OCPreload_Disable); //プリロード不許可
TIM_OC3Init(TIMx,&TIM_OCInitStructure); //初期化
TIM_OC3PreloadConfig(TIMx,TIM_OCPreload_Disable); //プリロード不許可
TIM_OC4Init(TIMx,&TIM_OCInitStructure); //初期化
TIM_OC4PreloadConfig(TIMx,TIM_OCPreload_Disable); //プリロード不許可
//使用するピンをTIMの出力として設定
// GPIO_PinAFConfig(GPIOx,Pin_select_source(pin),Tim_select_af(TIMx));//AF設定
/*TIM1とTIM8はSTM32の中でも高機能タイマに分類され、
モータ制御用に使用されるBREAK入力機能がついている
このBREAK機能の中でoutputの有効化という機能があり、デフォルトの設定で
タイマー出力ごとにoutputが無効に設定されているためPWM信号が止まる。
そのため、 タイマの更新イベントごとにoutputが自動的に再有効になるように設定する。*/
if(TIMx == TIM1 || TIMx == TIM8){
TIM_BDTRStructInit(&TIM_BDTRInitStructure);
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Enable;
TIM_BDTRConfig(TIMx, &TIM_BDTRInitStructure);
TIM_CtrlPWMOutputs(TIMx, ENABLE);
}
Analysis_GPIO_Pin(pin, &pin_state);
for (i = 0; i < 16; i++){
if (pin_state.user_pin[i] == 1){
GPIO_PinAFConfig(GPIOx, Pin_select_source(pin_state.pin_address[i]), Tim_select_af(TIMx));//AF設定
}
}
//ミニMDではしない方が良さげ
TIMx->CCR1=0;TIMx->CCR2=0;TIMx->CCR3=0;TIMx->CCR4=0; //一応duty全部0%にしておく
TIM_ARRPreloadConfig(TIMx,ENABLE);//プリロード設定の適用
TIM_Cmd(TIMx,ENABLE);//タイマー有効化
return 0;
}
/*
Инициализация таймера и ШИМ
*/
extern "C" void hal_TIM2_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBase_InitStructure;
TIM_OCInitTypeDef TIM_OC_InitStructure;
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
//Initialize clocks for TIM2
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
//Initialize clocks for GPIOA, AFIO
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
/*
//Configure pin TIM2 CH1 = PA0 as alternative function push-pull
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
*/
//GPIO_Init(GPIOA, &GPIO_InitStructure);
//Configure TIM2 time base
TIM_DeInit(TIM2);
TIM_TimeBaseStructInit( &TIM_TimeBase_InitStructure );
TIM_TimeBase_InitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBase_InitStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBase_InitStructure.TIM_Period = 65000;
TIM_TimeBase_InitStructure.TIM_Prescaler = 0;
TIM_TimeBaseInit(TIM2, &TIM_TimeBase_InitStructure);
TIM_OCStructInit( &TIM_OC_InitStructure );
TIM_OC_InitStructure.TIM_Pulse = 130;
TIM_OC_InitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OC_InitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OC_InitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
//TIM_OC1Init(TIM2, &TIM_OC_InitStructure);
// Automatic Output enable, Break, dead time and lock configuration
TIM_BDTRStructInit(&TIM_BDTRInitStructure);
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Enable;
//TIM_BDTRConfig(TIM2, &TIM_BDTRInitStructure);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE); /* Enable the TIM Update Interrupt */
/* 1 bit for pre-emption priority, 3 bits for subpriority */
NVIC_SetPriorityGrouping(1);
/* Enable the TIM2 Interrupt */
NVIC_SetPriority(TIM2_IRQn, 0x01); /* 0x00 = 0x01 << 3 | (0x00 & 0x7*/
NVIC_EnableIRQ(TIM2_IRQn); /* Enable TIM2 interrupt */
TIM_Cmd(TIM2, ENABLE); /* TIM counter enable */
return;
}
